#include <QP.h>
Public Member Functions | |
Vector | costGradient (Key key, const VectorValues &delta) const |
const VariableIndex & | costVariableIndex () const |
void | print (const std::string &s="") |
QP () | |
QP (const GaussianFactorGraph &_cost, const EqualityFactorGraph &_linearEqualities, const InequalityFactorGraph &_linearInequalities) | |
Public Attributes | |
GaussianFactorGraph | cost |
Quadratic cost factors. More... | |
EqualityFactorGraph | equalities |
linear equality constraints: cE(x) = 0 More... | |
InequalityFactorGraph | inequalities |
linear inequality constraints: cI(x) <= 0 More... | |
Private Attributes | |
VariableIndex | cachedCostVariableIndex_ |
Struct contains factor graphs of a Quadratic Programming problem
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GaussianFactorGraph gtsam::QP::cost |
EqualityFactorGraph gtsam::QP::equalities |
InequalityFactorGraph gtsam::QP::inequalities |